Vona, M;
Kanoulas, D;
(2019)
RPBP: Rapid-prototyped remote-brain biped with 3D perception.
In:
(Proceedings) 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM).
(pp. pp. 881-887).
IEEE
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Abstract
This paper provides the design of a novel open-hardware mini-bipedal robot, named Rapid-Prototyped Remote-Brain BiPed (RPBP), that is developed to provide a low-cost and reliable platform for locomotion and perception research. The robot is made of customized 3D-printed material (ABS plastic) and electronics, and commercial Robotics Dynamixel MX-28 actuators, as well as visual RGB-D and IMU sensing systems. We show that the robot is able to perform some locomotion/visual-odometry tasks and it is easy to switch between different feet designs, providing also a novel Center-of-Pressure (CoP) sensing system, so that it can deal with various types of terrain. Moreover, we provide a description of its control and perception system architecture, as well as our opensource software packages that provide sensing and navigation tools for locomotion and visual odometry on the robot. Finally, we briefly discuss the transferability of some prototype research that has been done on the developed mini-biped, to half or fullsize humanoid robots, such as COMAN or WALK-MAN.
| Type: | Proceedings paper |
|---|---|
| Title: | RPBP: Rapid-prototyped remote-brain biped with 3D perception |
| Event: | 2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM) |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICARM.2019.8834176 |
| Publisher version: | https://doi.org/10.1109/ICARM.2019.8834176 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10084270 |
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